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<a href="#pub-methods">Public 成员函数</a> &#124;
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<div class="title">pcl::StereoMatching类 参考<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p>Stereo Matching abstract class  
 <a href="classpcl_1_1_stereo_matching.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="stereo__matching_8h_source.html">stereo_matching.h</a>&gt;</code></p>
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类 pcl::StereoMatching 继承关系图:</div>
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  <img src="classpcl_1_1_stereo_matching.png" usemap="#pcl::StereoMatching_map" alt=""/>
  <map id="pcl::StereoMatching_map" name="pcl::StereoMatching_map">
<area href="classpcl_1_1_gray_stereo_matching.html" title="Stereo Matching abstract class for Grayscale images" alt="pcl::GrayStereoMatching" shape="rect" coords="113,56,330,80"/>
<area href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html" title="Adaptive Cost 2-pass Scanline Optimization Stereo Matching class" alt="pcl::AdaptiveCostSOStereoMatching" shape="rect" coords="0,112,217,136"/>
<area href="classpcl_1_1_block_based_stereo_matching.html" title="Block based (or fixed window) Stereo Matching class" alt="pcl::BlockBasedStereoMatching" shape="rect" coords="227,112,444,136"/>
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Public 成员函数</h2></td></tr>
<tr class="memitem:a1a579e7d63cb1387602a4f0fdfe90419"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a1a579e7d63cb1387602a4f0fdfe90419">setMaxDisparity</a> (int max_disp)</td></tr>
<tr class="memdesc:a1a579e7d63cb1387602a4f0fdfe90419"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for number of disparity candidates (disparity range)  <a href="classpcl_1_1_stereo_matching.html#a1a579e7d63cb1387602a4f0fdfe90419">更多...</a><br /></td></tr>
<tr class="separator:a1a579e7d63cb1387602a4f0fdfe90419"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e6382c53f7b89a3aa904abdd8fe5fec"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a2e6382c53f7b89a3aa904abdd8fe5fec">setXOffset</a> (int x_off)</td></tr>
<tr class="memdesc:a2e6382c53f7b89a3aa904abdd8fe5fec"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for horizontal offset, i.e. number of pixels to shift the disparity range over the target image  <a href="classpcl_1_1_stereo_matching.html#a2e6382c53f7b89a3aa904abdd8fe5fec">更多...</a><br /></td></tr>
<tr class="separator:a2e6382c53f7b89a3aa904abdd8fe5fec"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa37fb215c40ea6e9bb2617667bcbd17e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#aa37fb215c40ea6e9bb2617667bcbd17e">setRatioFilter</a> (int ratio_filter)</td></tr>
<tr class="memdesc:aa37fb215c40ea6e9bb2617667bcbd17e"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for the value of the ratio filter  <a href="classpcl_1_1_stereo_matching.html#aa37fb215c40ea6e9bb2617667bcbd17e">更多...</a><br /></td></tr>
<tr class="separator:aa37fb215c40ea6e9bb2617667bcbd17e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a047a59ada6606c9dea36b263f8c99136"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a047a59ada6606c9dea36b263f8c99136">setPeakFilter</a> (int peak_filter)</td></tr>
<tr class="memdesc:a047a59ada6606c9dea36b263f8c99136"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for the value of the peak filter  <a href="classpcl_1_1_stereo_matching.html#a047a59ada6606c9dea36b263f8c99136">更多...</a><br /></td></tr>
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<tr class="memitem:ac9613b9bcbd5e606bc6d5bf193d5625c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#ac9613b9bcbd5e606bc6d5bf193d5625c">setPreProcessing</a> (bool is_pre_proc)</td></tr>
<tr class="memdesc:ac9613b9bcbd5e606bc6d5bf193d5625c"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for the pre processing step  <a href="classpcl_1_1_stereo_matching.html#ac9613b9bcbd5e606bc6d5bf193d5625c">更多...</a><br /></td></tr>
<tr class="separator:ac9613b9bcbd5e606bc6d5bf193d5625c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a585b2b60aa7a9eef0bcb2d08be4334be"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a585b2b60aa7a9eef0bcb2d08be4334be">setLeftRightCheck</a> (bool is_lr_check)</td></tr>
<tr class="memdesc:a585b2b60aa7a9eef0bcb2d08be4334be"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for the left-right consistency check stage, that eliminates inconsistent/wrong disparity values from the disparity map at approx. twice the processing cost of the selected stereo algorithm  <a href="classpcl_1_1_stereo_matching.html#a585b2b60aa7a9eef0bcb2d08be4334be">更多...</a><br /></td></tr>
<tr class="separator:a585b2b60aa7a9eef0bcb2d08be4334be"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8123aa5819a47c068c8e126481dcdc36"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a8123aa5819a47c068c8e126481dcdc36">setLeftRightCheckThreshold</a> (int lr_check_th)</td></tr>
<tr class="memdesc:a8123aa5819a47c068c8e126481dcdc36"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for the left-right consistency check threshold  <a href="classpcl_1_1_stereo_matching.html#a8123aa5819a47c068c8e126481dcdc36">更多...</a><br /></td></tr>
<tr class="separator:a8123aa5819a47c068c8e126481dcdc36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6dfc0a33f0afc34852ce4addf2a5f828"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a6dfc0a33f0afc34852ce4addf2a5f828">compute</a> (unsigned char *ref_img, unsigned char *trg_img, int width, int height)=0</td></tr>
<tr class="memdesc:a6dfc0a33f0afc34852ce4addf2a5f828"><td class="mdescLeft">&#160;</td><td class="mdescRight">stereo processing, it computes a disparity map stored internally by the class  <a href="classpcl_1_1_stereo_matching.html#a6dfc0a33f0afc34852ce4addf2a5f828">更多...</a><br /></td></tr>
<tr class="separator:a6dfc0a33f0afc34852ce4addf2a5f828"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1dd7ee550d99d00a56727ad6e226f48"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#aa1dd7ee550d99d00a56727ad6e226f48">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt; &amp;ref, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt; &amp;trg)=0</td></tr>
<tr class="memdesc:aa1dd7ee550d99d00a56727ad6e226f48"><td class="mdescLeft">&#160;</td><td class="mdescRight">stereo processing, it computes a disparity map stored internally by the class  <a href="classpcl_1_1_stereo_matching.html#aa1dd7ee550d99d00a56727ad6e226f48">更多...</a><br /></td></tr>
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<tr class="memitem:aabedfd59ee3b38b52d9bc7510bcca142"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#aabedfd59ee3b38b52d9bc7510bcca142">medianFilter</a> (int radius)</td></tr>
<tr class="memdesc:aabedfd59ee3b38b52d9bc7510bcca142"><td class="mdescLeft">&#160;</td><td class="mdescRight">median filter applied on the previously computed disparity map Note: the "compute" method must have been previously called at least once in order for this function to have any effect  <a href="classpcl_1_1_stereo_matching.html#aabedfd59ee3b38b52d9bc7510bcca142">更多...</a><br /></td></tr>
<tr class="separator:aabedfd59ee3b38b52d9bc7510bcca142"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5cb4b96c50b127e38ff3b291e602c00"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#ad5cb4b96c50b127e38ff3b291e602c00">getPointCloud</a> (float u_c, float v_c, float focal, float baseline, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> &gt;::Ptr cloud)</td></tr>
<tr class="memdesc:ad5cb4b96c50b127e38ff3b291e602c00"><td class="mdescLeft">&#160;</td><td class="mdescRight">computation of the 3D point cloud from the previously computed disparity map without color information Note: the "compute" method must have been previously called at least once in order for this function to have any effect  <a href="classpcl_1_1_stereo_matching.html#ad5cb4b96c50b127e38ff3b291e602c00">更多...</a><br /></td></tr>
<tr class="separator:ad5cb4b96c50b127e38ff3b291e602c00"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adae373bb5275a9c3ea35a69e9c3c2cbb"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#adae373bb5275a9c3ea35a69e9c3c2cbb">getPointCloud</a> (float u_c, float v_c, float focal, float baseline, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a> &gt;::Ptr cloud, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::Ptr texture)</td></tr>
<tr class="memdesc:adae373bb5275a9c3ea35a69e9c3c2cbb"><td class="mdescLeft">&#160;</td><td class="mdescRight">computation of the 3D point cloud from the previously computed disparity map including color information Note: the "compute" method must have been previously called at least once in order for this function to have any effect  <a href="classpcl_1_1_stereo_matching.html#adae373bb5275a9c3ea35a69e9c3c2cbb">更多...</a><br /></td></tr>
<tr class="separator:adae373bb5275a9c3ea35a69e9c3c2cbb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9457e333d4c281d5a45e2495775c6fd2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a9457e333d4c281d5a45e2495775c6fd2">getVisualMap</a> (<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::Ptr vMap)</td></tr>
<tr class="memdesc:a9457e333d4c281d5a45e2495775c6fd2"><td class="mdescLeft">&#160;</td><td class="mdescRight">computation of a <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">pcl::RGB</a> cloud with scaled disparity values it can be used to display a rescaled version of the disparity map by means of the pcl::ImageViewer invalid disparity values are shown in green Note: the "compute" method must have been previously called at least once in order for this function to have any effect  <a href="classpcl_1_1_stereo_matching.html#a9457e333d4c281d5a45e2495775c6fd2">更多...</a><br /></td></tr>
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Protected 成员函数</h2></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>preProcessing</b> (unsigned char *img, unsigned char *pp_img)=0</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>imgFlip</b> (unsigned char *&amp;img)=0</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>compute_impl</b> (unsigned char *ref_img, unsigned char *trg_img)=0</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>leftRightCheck</b> ()</td></tr>
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short int&#160;</td><td class="memItemRight" valign="bottom"><b>computeStereoSubpixel</b> (int dbest, int s1, int s2, int s3)</td></tr>
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short int&#160;</td><td class="memItemRight" valign="bottom"><b>computeStereoSubpixel</b> (int dbest, float s1, float s2, float s3)</td></tr>
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short int&#160;</td><td class="memItemRight" valign="bottom"><b>doStereoRatioFilter</b> (int *acc, short int dbest, int sad_min, int ratio_filter, int maxdisp, int precision=100)</td></tr>
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short int&#160;</td><td class="memItemRight" valign="bottom"><b>doStereoRatioFilter</b> (float *acc, short int dbest, float sad_min, int ratio_filter, int maxdisp, int precision=100)</td></tr>
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short int&#160;</td><td class="memItemRight" valign="bottom"><b>doStereoPeakFilter</b> (int *acc, short int dbest, int peak_filter, int maxdisp)</td></tr>
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short int&#160;</td><td class="memItemRight" valign="bottom"><b>doStereoPeakFilter</b> (float *acc, short int dbest, int peak_filter, int maxdisp)</td></tr>
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Protected 属性</h2></td></tr>
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short int *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#ad75ea73c80e843b4f8348afb9d3dcf9b">disp_map_</a></td></tr>
<tr class="memdesc:ad75ea73c80e843b4f8348afb9d3dcf9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">The internal disparity map. <br /></td></tr>
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unsigned char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a626e46826cb843f91635e00a5a710e4f">ref_img_</a></td></tr>
<tr class="memdesc:a626e46826cb843f91635e00a5a710e4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Local aligned copies of the cloud data. <br /></td></tr>
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unsigned char *&#160;</td><td class="memItemRight" valign="bottom"><b>trg_img_</b></td></tr>
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short int *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a5b91204848cdbca8f7d4a759744cc853">disp_map_trg_</a></td></tr>
<tr class="memdesc:a5b91204848cdbca8f7d4a759744cc853"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disparity map used for left-right check. <br /></td></tr>
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unsigned char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a1f2ad6fe5bfc335a9ef44ef1e6605e2c">pp_ref_img_</a></td></tr>
<tr class="memdesc:a1f2ad6fe5bfc335a9ef44ef1e6605e2c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Local aligned copies used for pre processing. <br /></td></tr>
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unsigned char *&#160;</td><td class="memItemRight" valign="bottom"><b>pp_trg_img_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a6dee0d80b91b1a85bba4f5f647424de7">width_</a></td></tr>
<tr class="memdesc:a6dee0d80b91b1a85bba4f5f647424de7"><td class="mdescLeft">&#160;</td><td class="mdescRight">number of pixels per column of the input stereo pair . <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#aaef4538d3f38fe1f9676e40a9e906686">height_</a></td></tr>
<tr class="memdesc:aaef4538d3f38fe1f9676e40a9e906686"><td class="mdescLeft">&#160;</td><td class="mdescRight">number of pixels per row of the input stereo pair . <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a991b1fd18ba88d09637a1d3b0504153b">max_disp_</a></td></tr>
<tr class="memdesc:a991b1fd18ba88d09637a1d3b0504153b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disparity range used for stereo processing. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#abc8a13b6d22e1b08fc9937333b0504e7">x_off_</a></td></tr>
<tr class="memdesc:abc8a13b6d22e1b08fc9937333b0504e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Horizontal displacemente (x offset) used for stereo processing <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a8567c368513b675fc5e86e95c9e9d1f0">ratio_filter_</a></td></tr>
<tr class="memdesc:a8567c368513b675fc5e86e95c9e9d1f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold for the ratio filter, <img class="formulaInl" alt="$\in [0 100]$" src="form_75.png"/> <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a275e0342aea6c51ccab9d529d74a2831">peak_filter_</a></td></tr>
<tr class="memdesc:a275e0342aea6c51ccab9d529d74a2831"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold for the peak filter, <img class="formulaInl" alt="$\in [0 \infty]$" src="form_76.png"/> <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#ae5891b7558f219781df47c59476aa7cc">is_pre_proc_</a></td></tr>
<tr class="memdesc:ae5891b7558f219781df47c59476aa7cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">toggle for the activation of the pre-processing stage <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a3262d09c0cdb69059c63c7578f499445">is_lr_check_</a></td></tr>
<tr class="memdesc:a3262d09c0cdb69059c63c7578f499445"><td class="mdescLeft">&#160;</td><td class="mdescRight">toggle for the activation of the left-right consistency check stage <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a656a1e68728d6332e42aeb349379e369">lr_check_th_</a></td></tr>
<tr class="memdesc:a656a1e68728d6332e42aeb349379e369"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold for the left-right consistency check, typically either 0 or 1 <br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Stereo Matching abstract class </p>
<p>The class performs stereo matching on a rectified stereo pair Includes the following functionalities:</p><ul>
<li>preprocessing of the image pair, to improve robustness against photometric distortions (wrt. to a spatially constant additive photometric factor)</li>
<li>postprocessing: filtering of wrong disparities via Peak <a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> (eliminating ambiguities due to low-textured regions) and Ratio <a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> (eliminating generic matching ambiguities, similar to that present in OpenCV Block Matching Stereo)</li>
<li>postprocessing: Left-Right consistency check (eliminates wrong disparities at the cost of twice the stereo matching computation)</li>
<li>postprocessing: subpixel refinement of computed disparities, to reduce the depth quantization effect</li>
<li>postprocessing: smoothing of the disparity map via median filter</li>
<li>after stereo matching a PCL point cloud can be computed, given the stereo intrinsic (focal, principal point <br  />
 coordinates) and extrinsic (baseline) calibration parameters</li>
</ul>
<dl class="section author"><dt>作者</dt><dd>Federico Tombari (<a href="#" onclick="location.href='mai'+'lto:'+'fed'+'er'+'ico'+'.t'+'omb'+'ar'+'i@u'+'ni'+'bo.'+'it'; return false;">feder<span style="display: none;">.nosp@m.</span>ico.<span style="display: none;">.nosp@m.</span>tomba<span style="display: none;">.nosp@m.</span>ri@u<span style="display: none;">.nosp@m.</span>nibo.<span style="display: none;">.nosp@m.</span>it</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aa1dd7ee550d99d00a56727ad6e226f48">&#9670;&nbsp;</a></span>compute() <span class="overload">[1/2]</span></h2>

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          <td class="memname">virtual void pcl::StereoMatching::compute </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>ref</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>trg</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>stereo processing, it computes a disparity map stored internally by the class </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ref</td><td>point cloud of <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">pcl::RGB</a> type containing the pixels of the reference image (left image) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">trg</td><td>point cloud of <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">pcl::RGB</a> type containing the pixels of the target image (right image) </td></tr>
  </table>
  </dd>
</dl>

<p>在 <a class="el" href="classpcl_1_1_gray_stereo_matching.html#a8f4521554a5d59d20075e868c7e06475">pcl::GrayStereoMatching</a> 内被实现.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a6dfc0a33f0afc34852ce4addf2a5f828">&#9670;&nbsp;</a></span>compute() <span class="overload">[2/2]</span></h2>

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          <td class="memname">virtual void pcl::StereoMatching::compute </td>
          <td>(</td>
          <td class="paramtype">unsigned char *&#160;</td>
          <td class="paramname"><em>ref_img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char *&#160;</td>
          <td class="paramname"><em>trg_img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>height</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>stereo processing, it computes a disparity map stored internally by the class </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ref_img</td><td>reference array of image pixels (left image) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">trg_img</td><td>target array of image pixels (right image) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width</td><td>number of elements per row for both input arrays </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height</td><td>number of elements per column for both input arrays </td></tr>
  </table>
  </dd>
</dl>

<p>在 <a class="el" href="classpcl_1_1_gray_stereo_matching.html#a164869d4f6823d3d962a1ad6c9092771">pcl::GrayStereoMatching</a> 内被实现.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad5cb4b96c50b127e38ff3b291e602c00">&#9670;&nbsp;</a></span>getPointCloud() <span class="overload">[1/2]</span></h2>

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          <td class="memname">virtual bool pcl::StereoMatching::getPointCloud </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>u_c</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>v_c</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>focal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>baseline</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> &gt;::Ptr&#160;</td>
          <td class="paramname"><em>cloud</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>computation of the 3D point cloud from the previously computed disparity map without color information Note: the "compute" method must have been previously called at least once in order for this function to have any effect </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">u_c</td><td>horizontal coordinate of the principal point (calibration parameter) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">v_c</td><td>vertical coordinate of the principal point (calibration parameter) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">focal</td><td>focal length in pixels (calibration parameter) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">baseline</td><td>distance between the two cameras (calibration parameter); the measure unit used to specify this parameter will be the same as the 3D points in the output point cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>output 3D point cloud; it is organized and non-dense, with NaNs where 3D points are invalid </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#adae373bb5275a9c3ea35a69e9c3c2cbb">&#9670;&nbsp;</a></span>getPointCloud() <span class="overload">[2/2]</span></h2>

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          <td class="memname">virtual bool pcl::StereoMatching::getPointCloud </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>u_c</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>v_c</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>focal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>baseline</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a> &gt;::Ptr&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::Ptr&#160;</td>
          <td class="paramname"><em>texture</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>computation of the 3D point cloud from the previously computed disparity map including color information Note: the "compute" method must have been previously called at least once in order for this function to have any effect </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">u_c</td><td>horizontal coordinate of the principal point (calibration parameter) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">v_c</td><td>vertical coordinate of the principal point (calibration parameter) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">focal</td><td>focal length in pixels (calibration parameter) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">baseline</td><td>distance between the two cameras (calibration parameter); the measure unit used to specify this parameter will be the same as the 3D points in the output point cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>output 3D point cloud; it is organized and non-dense, with NaNs where 3D points are invalid </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">texture</td><td>3D cloud (same size of the output cloud) used to associate to each 3D point of the output cloud a color triplet </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a9457e333d4c281d5a45e2495775c6fd2">&#9670;&nbsp;</a></span>getVisualMap()</h2>

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          <td class="memname">void pcl::StereoMatching::getVisualMap </td>
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          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::Ptr&#160;</td>
          <td class="paramname"><em>vMap</em></td><td>)</td>
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<p>computation of a <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">pcl::RGB</a> cloud with scaled disparity values it can be used to display a rescaled version of the disparity map by means of the pcl::ImageViewer invalid disparity values are shown in green Note: the "compute" method must have been previously called at least once in order for this function to have any effect </p>
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<h2 class="memtitle"><span class="permalink"><a href="#aabedfd59ee3b38b52d9bc7510bcca142">&#9670;&nbsp;</a></span>medianFilter()</h2>

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          <td class="memname">void pcl::StereoMatching::medianFilter </td>
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<p>median filter applied on the previously computed disparity map Note: the "compute" method must have been previously called at least once in order for this function to have any effect </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">radius</td><td>radius of the squared window used to compute the median filter; the window side is equal to 2*radius + 1 </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a585b2b60aa7a9eef0bcb2d08be4334be">&#9670;&nbsp;</a></span>setLeftRightCheck()</h2>

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          <td class="paramname"><em>is_lr_check</em></td><td>)</td>
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<p>setter for the left-right consistency check stage, that eliminates inconsistent/wrong disparity values from the disparity map at approx. twice the processing cost of the selected stereo algorithm </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">is_lr_check</td><td>setting the boolean to true activates the left-right consistency check </td></tr>
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<div class="fragment"><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      { </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <a class="code" href="classpcl_1_1_stereo_matching.html#a3262d09c0cdb69059c63c7578f499445">is_lr_check_</a> = is_lr_check;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      };</div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a3262d09c0cdb69059c63c7578f499445"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a3262d09c0cdb69059c63c7578f499445">pcl::StereoMatching::is_lr_check_</a></div><div class="ttdeci">bool is_lr_check_</div><div class="ttdoc">toggle for the activation of the left-right consistency check stage</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:248</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8123aa5819a47c068c8e126481dcdc36">&#9670;&nbsp;</a></span>setLeftRightCheckThreshold()</h2>

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          <td class="paramname"><em>lr_check_th</em></td><td>)</td>
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<p>setter for the left-right consistency check threshold </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">lr_check_th</td><td>sets the value of the left-right consistency check threshold only has some influence if the left-right check is active typically has either the value 0 ("strong" consistency check, more points being filtered) or 1 ("weak" consistency check, less points being filtered) </td></tr>
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<div class="fragment"><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      { </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <a class="code" href="classpcl_1_1_stereo_matching.html#a656a1e68728d6332e42aeb349379e369">lr_check_th_</a> = lr_check_th;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      };</div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a656a1e68728d6332e42aeb349379e369"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a656a1e68728d6332e42aeb349379e369">pcl::StereoMatching::lr_check_th_</a></div><div class="ttdeci">int lr_check_th_</div><div class="ttdoc">Threshold for the left-right consistency check, typically either 0 or 1</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:251</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1a579e7d63cb1387602a4f0fdfe90419">&#9670;&nbsp;</a></span>setMaxDisparity()</h2>

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          <td class="paramname"><em>max_disp</em></td><td>)</td>
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<p>setter for number of disparity candidates (disparity range) </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">max_disp</td><td>number of disparity candidates (disparity range); has to be &gt; 0 </td></tr>
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<div class="fragment"><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      { </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <a class="code" href="classpcl_1_1_stereo_matching.html#a991b1fd18ba88d09637a1d3b0504153b">max_disp_</a> = max_disp;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      };</div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a991b1fd18ba88d09637a1d3b0504153b"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a991b1fd18ba88d09637a1d3b0504153b">pcl::StereoMatching::max_disp_</a></div><div class="ttdeci">int max_disp_</div><div class="ttdoc">Disparity range used for stereo processing.</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:233</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a047a59ada6606c9dea36b263f8c99136">&#9670;&nbsp;</a></span>setPeakFilter()</h2>

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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>peak_filter</em></td><td>)</td>
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<p>setter for the value of the peak filter </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">peak_filter</td><td>value of the peak filter; it is a number in the range [0, inf] (0: no filtering action) </td></tr>
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<div class="fragment"><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      { </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <a class="code" href="classpcl_1_1_stereo_matching.html#a275e0342aea6c51ccab9d529d74a2831">peak_filter_</a> = peak_filter;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      };</div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a275e0342aea6c51ccab9d529d74a2831"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a275e0342aea6c51ccab9d529d74a2831">pcl::StereoMatching::peak_filter_</a></div><div class="ttdeci">int peak_filter_</div><div class="ttdoc">Threshold for the peak filter,</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:242</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac9613b9bcbd5e606bc6d5bf193d5625c">&#9670;&nbsp;</a></span>setPreProcessing()</h2>

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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>is_pre_proc</em></td><td>)</td>
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<p>setter for the pre processing step </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">is_pre_proc</td><td>setting the boolean to true activates the pre-processing step for both stereo images </td></tr>
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<div class="fragment"><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      { </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <a class="code" href="classpcl_1_1_stereo_matching.html#ae5891b7558f219781df47c59476aa7cc">is_pre_proc_</a> = is_pre_proc;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      };</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa37fb215c40ea6e9bb2617667bcbd17e">&#9670;&nbsp;</a></span>setRatioFilter()</h2>

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          <td class="paramname"><em>ratio_filter</em></td><td>)</td>
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<p>setter for the value of the ratio filter </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">ratio_filter</td><td>value of the ratio filter; it is a number in the range [0, 100] (0: no filtering action; 100: all disparities are filtered) </td></tr>
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<div class="fragment"><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      { </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_stereo_matching.html#a8567c368513b675fc5e86e95c9e9d1f0">ratio_filter_</a> = ratio_filter;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      };</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2e6382c53f7b89a3aa904abdd8fe5fec">&#9670;&nbsp;</a></span>setXOffset()</h2>

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<p>setter for horizontal offset, i.e. number of pixels to shift the disparity range over the target image </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">x_off</td><td>horizontal offset value; has to be &gt;= 0 </td></tr>
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<div class="fragment"><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      { </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_stereo_matching.html#abc8a13b6d22e1b08fc9937333b0504e7">x_off_</a> = x_off; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      };</div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_abc8a13b6d22e1b08fc9937333b0504e7"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#abc8a13b6d22e1b08fc9937333b0504e7">pcl::StereoMatching::x_off_</a></div><div class="ttdeci">int x_off_</div><div class="ttdoc">Horizontal displacemente (x offset) used for stereo processing</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:236</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
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